CN214795685U - Processing equipment - Google Patents
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- CN214795685U CN214795685U CN202022935038.1U CN202022935038U CN214795685U CN 214795685 U CN214795685 U CN 214795685U CN 202022935038 U CN202022935038 U CN 202022935038U CN 214795685 U CN214795685 U CN 214795685U
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Abstract
The application discloses a processing device. The processing equipment comprises a measuring device and an operating device, wherein the measuring device comprises a 3D camera and a processor; the operating device comprises a controller, a servo driving module and an operating module. The 3D camera is used for scanning an object to be processed to obtain an actual model; the processor is in communication connection with the 3D camera and is used for obtaining and sending the offset and the processing amount of the object to be processed according to the actual model; the controller is in communication connection with the processor, is used for receiving the offset and the machining amount, and is used for obtaining and sending a machining signal according to the offset and the machining amount; the servo driving module is in communication connection with the controller, is used for receiving the processing signal and is used for sending a driving signal according to the processing signal; and the operation module is in communication connection with the servo driving module, is used for receiving the driving signal sent by the servo driving module and is used for processing the object to be processed according to the driving signal. The processing equipment improves the processing precision.
Description
Technical Field
The present application relates to, but is not limited to, the field of machine vision guidance and numerically controlled machine tools, and more particularly to a machining apparatus.
Background
The machine vision guiding technology can be applied to the field of part machining of numerical control machines, and the current numerical control machine equipment has the problem of low machining precision.
SUMMERY OF THE UTILITY MODEL
The present application is directed to solving at least one of the problems in the prior art. Therefore, the application provides a machining device which can solve the problem of low machining precision.
According to the processing equipment of this application embodiment, include: the measuring device comprises a 3D camera and a processor; the operating device comprises a controller, a servo driving module and an operating module. The device comprises a 3D camera, a processing module and a control module, wherein the 3D camera is used for scanning an object to be processed to obtain an actual model of the object to be processed; the processor is in communication connection with the 3D camera and is used for obtaining and sending the offset and the processing amount of the object to be processed according to the actual model; the controller is in communication connection with the processor, and is used for receiving the offset and the machining amount sent by the processor, and obtaining and sending a machining signal according to the received offset and the machining amount; the servo driving module is in communication connection with the controller, and is used for receiving the processing signal and sending a driving signal according to the processing signal; and the operation module is in communication connection with the servo driving module, is used for receiving the driving signal sent by the servo driving module, and is used for processing the object to be processed according to the driving signal.
According to the processing equipment of the embodiment of the application, at least the following technical effects are achieved: the processing equipment improves the processing precision.
According to some embodiments of the application, the processor is configured to calculate the offset and the machining amount according to the actual model and a preset theoretical model.
According to some embodiments of the application, the offset comprises an offset distance and an offset angle of the actual model and the theoretical model.
According to some embodiments of the application, the controller is configured to perform offset processing on a preset tool path according to the offset amount and the machining amount to obtain the machining signal.
According to some embodiments of the application, the predetermined tool path is generated by CAM software.
According to some embodiments of the application, the handling device further comprises a fixing device, the fixing device is arranged on the handling device, and the fixing device is used for fixing the object to be processed.
According to some embodiments of the present application, the processing apparatus includes a semi-finished last secondary processing apparatus.
According to some embodiments of the application, the 3D camera comprises a machine vision 3D camera.
According to some embodiments of the application, the operating device is a numerically controlled milling machine.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The present application is further described with reference to the following figures and examples, in which:
FIG. 1 is a block diagram of a processing tool module provided in one embodiment of the present application;
fig. 2 is a schematic structural diagram of a processing apparatus according to an embodiment of the present application.
Reference numerals: the measuring device 110, the operating device 120, the 3D camera 112, the processor 111, the operating device 120, the controller 121, the servo driving module 122, the operating module 123, the machine vision 3D camera 210, the numerically controlled milling machine 220, and the shoe tree fixture 230.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, unless otherwise expressly limited, terms such as set, mounted, connected and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application by combining the detailed contents of the technical solutions.
In the description of the present application, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Visual guidance is the use of machine vision to obtain the exact position and orientation of a part. The position and orientation of the component in 2D or 3D space is reported to the robot or machine controller, allowing the machine to quickly and accurately locate the actual precise position of the part.
The visual guidance is a machine 3D visual guidance system developed based on a structured light measurement technology and a 3D object recognition technology, a point cloud image of a scene is accurately and quickly acquired through a 3D camera, a 3D recognition algorithm is combined, a target object in the point cloud image is recognized and fitted, and accurate three-dimensional positioning of freely stacked parts is achieved within a large measurement depth range. Compare traditional 2D visual positioning mode and only can discern fixed degree of depth part and can only acquire the positional information of the partial degree of freedom of part, 3D location has higher application flexibility and bigger detection range, can provide effectual automatic solution for industrial problems such as digit control machine tool processing, lathe unloading, part letter sorting, pile up neatly stack.
Based on this, this application has proposed a processing equipment for promote the machining precision.
According to the processing equipment of this application embodiment, include: the measuring device comprises a 3D camera and a processor; the operating device comprises a controller, a servo driving module and an operating module. The device comprises a 3D camera, a processing module and a control module, wherein the 3D camera is used for scanning an object to be processed to obtain an actual model of the object to be processed; the processor is in communication connection with the 3D camera and used for obtaining and sending the offset and the processing amount of the object to be processed according to the actual model; the controller is in communication connection with the processor, is used for receiving the offset and the machining amount sent by the processor, and is used for obtaining and sending a machining signal according to the received offset and the machining amount; the servo driving module is in communication connection with the controller, is used for receiving the processing signal and is used for sending a driving signal according to the processing signal; and the operation module is in communication connection with the servo driving module, is used for receiving the driving signal sent by the servo driving module and is used for processing the object to be processed according to the driving signal.
As shown in fig. 1, in some embodiments, the processing tool includes a measuring device 110 and a handling device 120, the measuring device 110 including a 3D camera 112, a processor 111; the operation device 120 includes a controller 121, a servo driving module 122, and an operation module 123.
In some embodiments, the cut semi-finished shoe tree on the last carving machine needs to be automatically cut from the material of which the head and tail are originally used for clamping and fixing. The process of realizing automatic cutting relates to the secondary clamping, because the shoe tree shape is various, and the sign indicating number differs, in order to improve adaptability, economical and practical nature, the production efficiency of machine, the anchor clamps of clamping shoe tree adopt three point fixation's mode to press from both sides tight fixedly, can not be the mounting fixture of single shape. Therefore, when placing the semi-finished shoe tree on the fixture, the actual placing position will necessarily have a slight deviation from the theoretical fixed position, i.e. the actual placing machining position and the theoretical programmed position will probably generate the linear offset of XYZ3 axes, and at the same time, the angular offset around XYZ3 axes, so that 6 offset data (the linear offset dx, dy, dz of XYZ and the angular offset rx, ry, rz around XYZ) are obtained before the actual machining, and the numerical control system of the machining equipment can process the 6 offset data, recalibrate the machining position or the machining program, and then start the machining according to the actual position.
In some embodiments, the 3D camera projects the structured light onto the surface of the semi-finished shoe tree, the industrial camera is combined to realize three-dimensional full-size modeling of the surface of the semi-finished shoe tree, and according to fitting calculation of a theoretical geometric model of the finished shoe tree and an actual model obtained by current scanning, machining allowance required for secondary machining and offset between a clamping fixing position of the actual model obtained by current scanning and a theoretical standard position are obtained, namely linear offset dx, dy and dz of XYZ of a theoretical standard coordinate axis and angular offset rx, ry and rz around XYZ. And then the offset and the allowance needing to be processed are transmitted to a milling machine numerical control system (or a processing center) through a gigabit network.
In some embodiments, the milling machine numerical control system (or machining center control system) receives the signal and makes an overall match offset to the original point of the tool path generated in advance with UG or other CAM software. The numerical control system transmits a processing signal to the servo driver, and the servo driver drives the numerical control machine tool to realize automatic processing of the semi-finished shoe tree needing secondary processing.
The measuring device of the processing equipment scans to obtain an actual model and a fixed position of the workpiece, and performs fitting operation on the actual model and the fixed position with a theoretical model and a theoretical position to obtain a processing amount and an offset, the operating device of the processing equipment performs integral matching offset on an original origin of a tool path generated in advance by software according to the processing amount and the offset to generate a new processing program, and the workpiece is processed by the processing program, so that the processing precision is improved.
This application makes to have fused machine vision 3D camera and the respective function of cover triaxial numerically controlled fraise machine (or triaxial machining center) for digit control machine tool can automatic perception treat the part of processing, treat the position of processing, treat the processingquantity of processing, make two kinds of equipment make up into the shoe tree processing equipment of an intelligence.
The machining equipment is also suitable for machining a workpiece which needs to be relieved of primary clamping, is machined secondarily and adopts a non-special clamp on a numerical control machine tool.
According to some embodiments of the application, the processor is configured to calculate the offset and the machining amount according to fitting of the actual model and a preset theoretical model.
In some embodiments, the processing equipment utilizes a 3D camera to project structured light to the surface of the semi-finished shoe tree, realizes three-dimensional full-size modeling of the surface of the semi-finished shoe tree by combining an industrial camera, and obtains the processing amount needing secondary processing by fitting calculation in an arithmetic unit according to a theoretical geometric model of the finished shoe tree and an actual model obtained by current scanning. And finally, conveying the allowance to be processed to a milling machine numerical control system through the gigabit network.
The machining amount of the machining equipment is calculated as follows:
theoretical model of shoe tree:
A＝{Si}i＝1…n (1)
wherein SiThe model is a curved surface model and consists of n curved surfaces.
The model of the semi-finished shoe tree obtained by scanning is a point cloud model:
B＝{Pi}i＝1…m (2)
wherein P isi＝[xi,yi,zi]Representing the ith point in the point cloud model, and having m point combinations. P can be obtained by least square fittingiNormal to the point, denoted as (n)x,ny,nz)，PiAlong the normal direction and the curved surface SjMeet at a point
Defining a point PiTo surface model SjThe distance of (c):
defining a point PiDistance D to shoe tree theoretical model Ai，DiNamely the machining allowance of each point:
if the measurement system of the equipment is aligned with the coordinate system of the theoretical model before scanning by other calibration means, the machining allowance of each point is obtained by the formula (4), and the corresponding relation [ x ] is obtainedi,yi,zi,Di]。
If the coordinate systems of the measurement system and the theoretical model of the shoe tree are not aligned, the three-dimensional point cloud model obtained through actual measurement needs to be aligned with the theoretical model. A rigid body transformation exists between the point cloud model B and the shoe tree theoretical model A, the rigid body transformation is represented as (R | T), and the alignment process is the process of obtaining the (R | T). And (4) applying the rigid body transformation to the theoretical model A of the shoe tree to obtain a theoretical model C. Note as:
defining the distance from the point cloud model B to the shoe tree theoretical model C as follows:
wherein DiThe distance between each point in the point cloud model and the shoe tree model C is calculated according to the formulas (3) and (4). Solving the mathematical meaning of the rigid body transformation (R | T) is actually minimization
The parameter estimation problem can be obtained by the following formula:
obtaining rigid body transformation (R | T) by an optimization method, and obtaining a theory by applying the theory model A to a shoe treeModel C is discussed. The coordinate system of the point cloud obtained by current measurement is unified with the coordinate system of the theoretical model C of the workpiece, the distance from each point in the point cloud to the theoretical model C of the workpiece can be calculated, the distance corresponds to the machining allowance, and the corresponding relation [ x ] is obtained equivalentlyi,yi,zi,Di]。
In some embodiments, the workpiece needs to be processed twice by the semi-finished shoe tree secondary processing automatic processing equipment, after the main body is formed by first clamping and processing, the clamping position in the first processing process needs to be processed by second clamping, the redundant part is cut off, and the calculation of the processing amount provides a basis for cutting off the redundant part.
According to some embodiments of the application, the offset comprises an offset distance and an offset angle of the actual model from the theoretical model.
The processing equipment utilizes the 3D camera to project the structured light to the surface of the semi-finished product shoe tree, and the offset of the clamping fixed position of the actual model obtained by current scanning and the theoretical standard position is obtained through fitting calculation in the arithmetic unit, namely the linear offset dx, dy and dz of XYZ of the theoretical standard coordinate axis and the angular offset rx, ry and rz around XYZ. And then the offset generated by clamping is transmitted to a milling machine numerical control system through a gigabit network.
In some embodiments, the processor calculates the angular offset as follows:
the euler angle is a set of 3 independent angle parameters for determining the position of a fixed point rotation rigid body, and consists of a nutation angle alpha, a precession angle beta and a self-rotation angle gamma, and represents the direction and direction transformation in a three-dimensional coordinate system. It is noted that our usual Euler angles can be subdivided into Euler-angles (Euler-angles) and tympan-angles (Tait-Bryan-angles), both of which use the three axes of the cartesian coordinate system as axes of rotation, the main difference being the order of selection. The euler angles are selected in 6 sequences of (x, y, x), (x, z, x), (y, x, y), (y, z, y), (z, x, z), (z, y, z), and the selected sequence is an a, b, a mode sequence, after rotating for a certain angle around an a axis, the selected sequence rotates for an angle around a newly generated b axis, and finally the selected sequence rotates for another angle around an a axis after twice rotation, so that the final direction is represented. The rotation axis of the tyne angle is chosen to be 6 of (x, y, z), (x, z, y), (y, x, z), (y, z, x), (z, x, y), (z, y, x), i.e. traversing the three axes of the cartesian coordinate system, as is the case of (x, y, z) in the Roll-Pitch-Yaw angle, which we most commonly see. However, both of these methods, which are in fact generic methods that represent arbitrary directions in space in the most intuitive way and with the least number of parameters, have no difference in computational requirements and capacity requirements for representing directions.
A gimbal model is a model that rotates in this descriptive manner. Three rings with coaxial shafts are combined together in a three-dimensional mode, if an arrow is placed at the intersection point of the three shafts, when the arrow depends on the shaft centers of the different rings to rotate, the arrow can point to any direction in space, and the condition is called as a static Euler angle.
In this scenario, the arrow is a stationary object and will not move, and we need to focus on its pointing direction, so there is no deadlock problem.
The dynamic euler angle means that attention is needed to be paid to the moving track of the arrow. That is, how the arrow moves from one angle to another is the focus of our attention, we need to let the arrow move from a given angle to another, and this movement path should be a straight line, or a straight line in the non-european geometric sense. The shape of the trajectory of movement between the two angles is the same and is predictable.
However, at the euler angle, it is not possible to break the rotation into three different rotations, and if the three rotations are superimposed it can be seen that the trajectory of the rotation from one angle to another becomes a curve, which is not acceptable in a dynamic environment.
This is a well-known Gimbal deadlock (Gimbal lock) problem, where a direct rotation in a particular direction is not possible.
In some embodiments, the offset angle is calculated as follows:
rotating about the X axis
Rotating about the Y axis
Rotating about the Z axis
The numerical control system uses the euler angle and the rotation method is (z, y, x), and therefore, a rotation matrix is obtained:
conversion to euler angles using a rotation matrix:
when beta is 90 deg., let
α＝0°
γ＝arctan(r12/r22)
When beta is-90 deg., let
α＝0°
γ＝-arctan(r12/r22)
When the beta is other than the above-mentioned one,
α＝arctan((r21/cosβ)/(r11/cosβ)),
γ＝arctan((r32/cosβ)/(r33/cosβ)).
the obtained alpha, beta and gamma are the rotation angles required by the numerical control system.
According to some embodiments of the present application, the controller is configured to perform a shift process on the preset tool path according to the shift amount and the machining amount to obtain the machining signal.
In some embodiments, the milling machine numerical control system, upon receiving the signal, makes an overall match offset to the original point of the tool path generated in advance with UG or other CAM software. The numerical control system transmits a processing signal to the servo driver, and the servo driver drives the numerical control machine tool to realize automatic processing of the semi-finished shoe tree needing secondary processing.
According to some embodiments of the application, the preset tool path is generated by CAM software.
In some embodiments, the preset tool path generation software includes, but is not limited to, CAM.
According to some embodiments of the application, the handling device further comprises a fixing device, the fixing device is arranged on the handling device, and the fixing device is used for fixing the object to be processed.
In some embodiments, the clamp for clamping the shoe tree is clamped and fixed in a three-point fixing mode.
As shown in fig. 2, in some embodiments, the processing equipment includes a machine vision 3D camera 210, a numerically controlled milling machine 220, wherein the numerically controlled milling machine 220 further includes a last fixture 230 for securing a last.
According to some embodiments of the present application, the processing apparatus includes a semi-finished shoe last secondary processing apparatus.
In some embodiments, the processing equipment includes, but is not limited to, semi-finished last secondary processing equipment.
According to some embodiments of the application, the 3D camera comprises a machine vision 3D camera.
In some embodiments, the 3D camera includes, but is not limited to, a machine vision 3D camera.
According to some embodiments of the application, the operating device is a numerically controlled milling machine.
In some embodiments, the milling machine numerical control system, upon receiving the signal, makes an overall match offset to the original point of the tool path generated in advance with UG or other CAM software. The numerical control system transmits a processing signal to the servo driver, and the servo driver drives the numerical control machine tool to realize automatic processing of the semi-finished shoe tree needing secondary processing.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present application. Furthermore, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
Claims (9)
1. Processing equipment, its characterized in that includes:
a measurement device, comprising:
the 3D camera is used for scanning the object to be processed to obtain an actual model of the object to be processed;
the processor is in communication connection with the 3D camera and is used for obtaining and sending the offset and the processing amount of the object to be processed according to the actual model;
an operating device comprising:
the controller is in communication connection with the processor, and is used for receiving the offset and the machining amount sent by the processor, and obtaining and sending a machining signal according to the received offset and the machining amount;
the servo driving module is in communication connection with the controller, and is used for receiving the processing signal and sending a driving signal according to the processing signal;
and the operation module is in communication connection with the servo driving module, is used for receiving the driving signal sent by the servo driving module, and is used for processing the object to be processed according to the driving signal.
2. The processing apparatus according to claim 1, wherein the processor is configured to calculate the offset and the processing amount according to a fitting between the actual model and a preset theoretical model.
3. The processing tool according to claim 2, wherein the offset amount includes an offset distance and an offset angle of the actual model from the theoretical model.
4. The machining apparatus according to claim 2, wherein the controller is configured to shift a preset tool path according to the shift amount and the machining amount to obtain the machining signal.
5. The machining apparatus according to claim 4, wherein the preset tool path is generated by CAM software.
6. The processing apparatus according to claim 5, wherein the operating device further comprises a fixing device disposed on the operating device, the fixing device being configured to fix the object to be processed.
7. The processing apparatus according to claim 6, wherein the processing apparatus comprises a semi-finished last secondary processing apparatus.
8. The processing device of claim 6, wherein the 3D camera comprises a machine vision 3D camera.
9. The processing apparatus according to claim 6, wherein the operation device is a numerically controlled milling machine.
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| CN114864456A (en) * | 2022-07-08 | 2022-08-05 | 埃克斯工业(广东)有限公司 | Scheduling method, system and device for semiconductor cleaning equipment and storage medium |
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| CN114864456A (en) * | 2022-07-08 | 2022-08-05 | 埃克斯工业(广东)有限公司 | Scheduling method, system and device for semiconductor cleaning equipment and storage medium |
| CN114864456B (en) * | 2022-07-08 | 2022-09-13 | 埃克斯工业(广东)有限公司 | Scheduling method, system and device for semiconductor cleaning equipment and storage medium |
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